Support GPS Coordinates for Navigation Goals

YuYing-Liang commented 4 years ago

Description:

Right now, we are using RViz to specify robot goals for navigation. We will want to do this programmatically, and using GPS coordinates.

Goals:

[x] Echo messages from the node publishing GPS information. You will need to research which node this is.
[ ] Convert the GPS coordinate to be within the world coordinate system. We will need a mapping between GPS and world coordinates.
[ ] Pass the world coordinate to the navigation stack as a robot goal.

Acceptance Criteria:

[ ] Be able to specify a GPS coordinate through the terminal and have the robot navigate to said location.

Notes:

We will need to place the virtual world somewhere within the real world and then take the 3D GPS coordinates and map them to a 2D plane. It'll likely suffice to simply ignore all altitude information since the field is fairly small, however, more accurate mappings do exist and should be researched.

YuYing-Liang commented 4 years ago

AbiJaya1998 commented 4 years ago

AbiJaya1998 commented 4 years ago

AbiJaya1998 commented 4 years ago

AbiJaya1998 commented 4 years ago

UTRA-ART / SLAM-1920